drive

Connection to NVIDIA DRIVE hardware

Add-On Required: This feature requires the MATLAB Coder Support Package for NVIDIA Jetson and NVIDIA DRIVE Platforms add-on.

Description

This object represents a connection from the MATLAB^® software to the NVIDIA DRIVE^® hardware. To create this object, use the drive function. To interact with the DRIVE hardware, use this object with the functions listed in Object Functions

Creation

Syntax

obj = drive

obj = drive(deviceaddress,username,password)

Description

obj = drive creates a connection, obj, from the MATLAB software to the NVIDIA DRIVE hardware. Use this syntax to connect or reconnect to the same hardware. You do not need to supply the device address, user name, and password. The drive object reuses these settings from the most recent successful connection to the DRIVE hardware.

obj = drive(deviceaddress,username,password) overrides the device address, user name, and password from the previous connection. Use this syntax to connect to hardware whose settings are different from the previous successful connection. The DRIVE hardware has two default user names: 'nvidia' and 'ubuntu'. For 'nvidia', the default password is 'nvidia'. For 'ubuntu', the default password is 'ubuntu'. It is a good security practice to create a strong password after the first login. After changing the hardware password, or after connecting from the MATLAB software to a different piece of DRIVE hardware, use this syntax.

After connecting to the hardware, you can use the obj object to interact with the DRIVE hardware and attached peripheral devices such as a camera. To close the connection, use clear to remove obj and connections that use obj.

Input Arguments

deviceaddress — IP address or host name of hardware

character vector | string

IP address or host name of the hardware, specified as a character vector or string.

To use the host name, you must connect an Ethernet cable to the Ethernet port of the board. Use Linux^® commands to configure the hardware IP address and associate the host name with the IP address.

Example: '169.254.0.2'

Example: '169.254.0.2'

Example: 'drive-board-name'

username — Linux user name

character vector | string

Linux user name, specified as a character vector or string.

Example: 'ubuntu'

password — Linux user password

character vector | string

Password associated with the Linux user name, specified as a character vector or string.

Example: 'ubuntu'

Output Arguments

obj — Connection to specific hardware

DRIVE object

A connection from the MATLAB software to the DRIVE hardware, returned as a drive object.

Properties

BoardName — Board name

character vector

This property is read-only.

The name of the target DRIVE board, returned as a character vector.

Example: 'NVIDIA Drive PX2'

CUDAVersion — CUDA^® toolkit version

character vector

This property is read-only.

Version number of the CUDA toolkit installed on the DRIVE board, returned as a character vector.

Example: '9.2'

cuDNNVersion — cuDNN library version

character vector

This property is read-only.

Version number of the CUDA Deep Neural Network library (cuDNN) installed on the DRIVE board, returned as a character vector.

Example: '7.1'

DeviceAddress — IP address or host name

character vector

This property is read-only.

The IP address or host name of the Ethernet port on the DRIVE board, returned as a character vector.

Example: '169.254.0.2''drive-board-name'

GPUInfo — GPU information

struct

This property is read-only.

Additional information on the GPU of the DRIVE board, returned as a 1-by-N structure, where N is the number of GPU devices. To access this structure use objectName.GPUInfo. The structure contains the following fields:

Name	Description
Name	Name of the CUDA device.
Index	Index of the selected GPU device.
ComputeCapability	Computational capability of the CUDA device.
CUDADriverVersion	The CUDA device driver version on the board currently in use.
CUDAToolkitVersion	Version of the CUDA toolkit on the board.
MaxThreadsPerBlock	Maximum supported number of threads per block during CUDA kernel execution.
MaxSharedMemPerBlock	Maximum amount of shared memory that a thread block can use during CUDA kernel execution.
MaxThreadBlockSize	Maximum size in each dimension for thread block.
MaxGridSize	Maximum size of grid of thread blocks.
AvailableMemory	Total amount of memory (in bytes) available for data.
TotalConstMem	Total amount of constant memory (in bytes) available for data.
MultiprocessorCount	The number of vector processors present on the device.
TotalCUDACores	Total number of CUDA cores available on the target board.
MaxThreadsPerSM	Maximum number of threads per symmetric multiprocessor.

For example, a DRIVE PX2 board has the following values:

hwDrive.GPUInfo(1,1)

ans = 

  struct with fields:

                    Name: 'DRIVE PX 2 AutoChauffeur'
                   Index: 0
       ComputeCapability: 6.1000
       CUDADriverVersion: 9.2000
      CUDAToolkitVersion: 9.2000
      MaxThreadsPerBlock: 1024
    MaxSharedMemPerBlock: 49152
      MaxThreadBlockSize: [1024 1024 64]
             MaxGridSize: [2.1475e+09 65535 65535]
         AvailableMemory: 4.0265e+09
           TotalConstMem: 65536
     MultiprocessorCount: 9
          TotalCUDACores: 1152
         MaxThreadsPerSM: 2048

GStreamerVersion — GStreamer library version

character vector

This property is read-only.

Version number of the GStreamer library installed on the DRIVE board, returned as a character vector.

Example: '1.8.2'

Port — SSH port number

positive integer

This property is read-only.

The SSH port number on the DRIVE board, returned as an integer.

Example: 22

OpenCVVersion — OpenCV library version

character vector

This property is read-only.

Version number of the OpenCV library installed on the Jetson™ board, returned as a character vector.

Example: '4.1.1'

SDLVersion — SDL library version

character vector

This property is read-only.

Version number of the SDL library installed on the DRIVE board, returned as a character vector.

Example: '1.2'

TensorRTVersion — TensorRT library version

character vector

This property is read-only.

Version number of the NVIDIA^® TensorRT library installed on the DRIVE board, returned as a character vector.

Example: '4.0'

V4L2Version — Video for Linux library version

character vector

This property is read-only.

Version number of the V4L2 library installed on the DRIVE board, returned as a character vector.

Example: '1.10.0-1'

WebcamList — Available USB web cameras

cell array

This property is read-only.

A list of the USB web cameras that are available, returned as a cell array of strings.

Example: {'Microsoft(R) LifeCam Cinema (TM)'}

Object Functions

getFile	Transfer file from NVIDIA hardware to host computer
putFile	Transfer file from host computer to target hardware
deleteFile	Delete file on target hardware
openShell	Open terminal on host computer to use a Linux shell on NVIDIA hardware
system	Run commands in a Linux shell on the NVIDIA hardware
getL4TVersion	Get the L4T version of the NVIDIA Jetson hardware
getPdkorSdkVersion	Get the version number of the DriveWorks SDK installed on the NVIDIA DRIVE hardware
setupCodegenContext	Select the target hardware to build code for from multiple live connection objects
webcam	Create webcam object to acquire images from an USB webcam attached to the NVIDIA hardware
getCameraList	Get a list of available cameras on the NVIDIA hardware
updatePeripheralInfo	Scan for and update the list of peripherals connected to the target hardware
getLinuxVersion	Get information about the Linux environment on the target
imageDisplay	Create an imageDisplay object for displaying images on NVIDIA targets
getPILPort	Get the TCP/IP port number used by the PIL execution
getPILTimeout	Get the timeout value that PIL uses for reading data
setPILPort	Set the TCP/IP port number used by the PIL execution
setPILTimeout	Set the timeout value that PIL uses for reading data
killApplication	Kill an application on the NVIDIA target by name
killProcess	Kill a process on the NVIDIA target by ID
runApplication	Launch an application on the NVIDIA target by name
runExecutable	Launch an executable on the NVIDIA target by name
getDisplayEnvironment	Get the display environment value used for redirecting the display on the target
setDisplayEnvironment	Set the display environment value used for redirecting the display on the target

Examples

Connect to NVIDIA Hardware

This example shows you how to create a connection from the MATLAB software to the NVIDIA DRIVE hardware. The DRIVE hardware is connected to the same TCP/IP network as the host computer. This example uses the device address, user name, and password settings from the most recent successful connection to the DRIVE hardware.

Create a connection, hwDRIVE, from the MATLAB software to NVIDIA DRIVE hardware.

hwDRIVE = drive

Checking for CUDA availability on the Target...
Checking for 'nvcc' in the target system path...
Checking for cuDNN library availability on the Target...
Checking for TensorRT library availability on the Target...
Checking for prerequisite libraries is complete.
Gathering hardware details...
Checking for third-party library availability on the Target...
Gathering hardware details is complete.
 Board name         : NVIDIA Drive
 CUDA Version       : 9.2
 cuDNN Version      : 7.1
 TensorRT Version   : 4.0
 GStreamer Version  : 1.8.2
 V4L2 Version       : 1.10.0-1
 SDL Version        : 1.2
 Available Webcams  : Microsoft® LifeCam Cinema(TM)
 Available GPUs     : DRIVE PX 2 AutoChauffeur,NVIDIA Tegra X2

hwDrive = 

  jetson with properties:

       DeviceAddress: 'drive-board-name'
                Port: 22
           BoardName: 'NVIDIA Drive'
         CUDAVersion: '9.2'
        cuDNNVersion: '7.1'
     TensorRTVersion: '4.0'
          SDLVersion: '1.2'
         V4L2Version: '1.10.0-1'
    GStreamerVersion: '1.8.2'
             GPUInfo: [1×2 struct]
          WebcamList: {'Microsoft® LifeCam Cinema(TM)'}

The support package establishes an SSH connection to the DRIVE hardware using the settings stored in memory. It checks for the CUDA toolkit, cuDNN, and TensorRT libraries on the target hardware and displays this information on the MATLAB Command Window. To set up the environment variables on the board for the compiler and the libraries, see Install and Setup Prerequisites for NVIDIA Boards.

To get the PDK/SDK software version on the DRIVE board, use the getPdkorSdkVersion method of the DRIVE connection object.

getPdkorSdkVersion(hwDRIVE);

Drive SDK/PDK version is: 5.0.5.0-10129397

To start a PuTTY SSH terminal session on the DRIVE board, use the openShell method of the DRIVE connection object.

openShell(hwDRIVE);

Using username "ubuntu".
Welcome to Ubuntu 16.04 LTS (GNU/Linux 4.9.38-rt25-tegra aarch64)

 * Documentation:  https://help.ubuntu.com/

594 packages can be updated.
321 updates are security updates.

ubuntu@gpucoder-drivepx2-1a:~$ ls
CamVid.avi  Documents  MATLAB  Pictures  segnetDemo  Videos
Desktop     Downloads  Music   Public    Templates
ubuntu@gpucoder-drivepx2-1a:~$

After logging into the Linux shell, you execute shell commands such as ls as shown.

To close the connection, use clear to remove hwDRIVE and connections that use hwDRIVE.

clear hwDRIVE;

Connect to Hardware That Has Different Settings

This example shows you how to create a connection from the MATLAB software to the NVIDIA DRIVE hardware that has different device address, user name, and password settings from the previous successful connection.

Create a connection, hwDRIVE, from the MATLAB software to NVIDIA DRIVE hardware.

hwDRIVE = drive('169.254.0.2','nvidia','nvidia');

Checking for CUDA availability on the Target...
Checking for 'nvcc' in the target system path...
Checking for cuDNN library availability on the Target...
Checking for TensorRT library availability on the Target...
Checking for prerequisite libraries is complete.
Gathering hardware details...
Checking for third-party library availability on the Target...
Gathering hardware details is complete.
 Board name         : NVIDIA Drive
 CUDA Version       : 9.2
 cuDNN Version      : 7.1
 TensorRT Version   : 4.0
 GStreamer Version  : 1.8.2
 V4L2 Version       : 1.10.0-1
 SDL Version        : 1.2
 Available Webcams  : Microsoft® LifeCam Cinema(TM)
 Available GPUs     : DRIVE PX 2 AutoChauffeur,NVIDIA Tegra X2

hwDrive = 

  jetson with properties:

       DeviceAddress: '169.254.0.2'
                Port: 22
           BoardName: 'NVIDIA Drive'
         CUDAVersion: '9.2'
        cuDNNVersion: '7.1'
     TensorRTVersion: '4.0'
          SDLVersion: '1.2'
         V4L2Version: '1.10.0-1'
    GStreamerVersion: '1.8.2'
             GPUInfo: [1×2 struct]
          WebcamList: {'Microsoft® LifeCam Cinema(TM)'}

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

Introduced in R2018b